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device.cpp
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device.cpp
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#include "device.hpp"
#include "matrix_ops.hpp"
// shared
#include "depthai-shared/json_helper.hpp"
#include "depthai-shared/depthai_constants.hpp"
#include "depthai-shared/cnn_info.hpp"
// project
//#include "pipeline/host_pipeline_config.hpp"
#include "pipeline/host_pipeline_config.hpp"
#include "host_data_reader.hpp"
extern "C" {
#include "bspatch/bspatch.h"
}
// Resource compiled assets (cmds)
#ifdef DEPTHAI_RESOURCE_COMPILED_BINARIES
#include "cmrc/cmrc.hpp"
CMRC_DECLARE(depthai);
#endif
#define WARNING "\033[1;5;31m"
#define ENDC "\033[0m"
constexpr static auto cmrc_depthai_cmd_path = "depthai.cmd";
constexpr static auto cmrc_depthai_usb2_cmd_path = "depthai-usb2.cmd";
constexpr static auto cmrc_depthai_usb2_patch_path = "depthai-usb2-patch.patch";
// GLOBAL
static XLinkGlobalHandler_t g_xlink_global_handler = {};
Device::Device(std::string usb_device, bool usb2_mode){
// Binaries are resource compiled
#ifdef DEPTHAI_RESOURCE_COMPILED_BINARIES
// Get binaries from internal sources
auto fs = cmrc::depthai::get_filesystem();
if(usb2_mode){
#ifdef DEPTHAI_PATCH_ONLY_MODE
// Get size of original
auto depthai_binary = fs.open(cmrc_depthai_cmd_path);
// Open patch
auto depthai_usb2_patch = fs.open(cmrc_depthai_usb2_patch_path);
// Get new size
int64_t patched_size = bspatch_mem_get_newsize( (uint8_t*) depthai_usb2_patch.begin(), depthai_usb2_patch.size());
// Reserve space for patched binary
patched_cmd.resize(patched_size);
// Patch
int error = bspatch_mem( (uint8_t*) depthai_binary.begin(), depthai_binary.size(), (uint8_t*) depthai_usb2_patch.begin(), depthai_usb2_patch.size(), patched_cmd.data());
// if patch successful
if(!error){
// Boot
init_device("", usb_device, patched_cmd.data(), patched_size);
} else {
std::cout << "Error while patching..." << std::endl;
// TODO handle error (throw most likely)
}
#else
auto depthai_usb2_binary = fs.open(cmrc_depthai_usb2_cmd_path);
uint8_t* binary = (uint8_t*) depthai_usb2_binary.begin();
long size = depthai_usb2_binary.size();
init_device("", usb_device, binary, size);
#endif
} else {
auto depthai_binary = fs.open(cmrc_depthai_cmd_path);
uint8_t* binary = (uint8_t*) depthai_binary.begin();
long size = depthai_binary.size();
init_device("", usb_device, binary, size);
}
#else
// Binaries from default path (TODO)
#endif
}
Device::Device() : Device("", false){
}
Device::Device(std::string cmd_file, std::string usb_device){
if(!init_device(cmd_file, usb_device)){
throw std::runtime_error("Cannot initialize device");
}
}
Device::~Device(){
deinit_device();
}
void Device::wdog_thread(std::chrono::milliseconds& wd_timeout)
{
std::cout << "watchdog started " << std::endl;
const std::chrono::milliseconds poll_rate(100);
const auto sleep_nr = wd_timeout / poll_rate;
while(wdog_thread_alive)
{
wdog_keep = 0;
for(int i = 0; i < sleep_nr; i++)
{
std::this_thread::sleep_for(poll_rate);
if(wdog_thread_alive == 0)
{
break;
}
}
if(wdog_keep == 0 && wdog_thread_alive == 1)
{
std::cout << "watchdog triggered " << std::endl;
soft_deinit_device();
bool init;
for(int retry = 0; retry < 1; retry++)
{
init = init_device(cmd_backup, usb_device_backup, binary_backup, binary_size_backup);
if(init)
{
break;
}
}
if(!init)
{
exit(9);
}
create_pipeline(config_backup);
}
}
}
int Device::wdog_start(void)
{
static int once = 1;
if(once)
{
wdog_thread_alive = 1;
wd_thread = std::thread(&Device::wdog_thread, this, std::ref(wd_timeout));
once = 0;
}
return 0;
}
int Device::wdog_stop(void)
{
if(wdog_thread_alive)
{
wdog_thread_alive = 0;
wd_thread.join();
}
return 0;
}
void Device::wdog_keepalive(void)
{
wdog_keep = 1;
}
bool Device::init_device(
const std::string &device_cmd_file,
const std::string &usb_device,
uint8_t* binary,
long binary_size
)
{
cmd_backup = device_cmd_file;
usb_device_backup = usb_device;
binary_backup = binary;
binary_size_backup = binary_size;
bool result = false;
std::string error_msg;
do
{
// xlink
if (nullptr != g_xlink)
{
error_msg = "Device is already initialized.";
std::cout << error_msg << "\n";
break;
}
g_xlink = std::unique_ptr<XLinkWrapper>(new XLinkWrapper(true));
if(binary != nullptr && binary_size != 0){
if (!g_xlink->initFromHostSide(
&g_xlink_global_handler,
&g_xlink_device_handler,
binary, binary_size,
usb_device,
true)
)
{
std::cout << "depthai: Error initializing xlink\n";
break;
}
} else {
if (!g_xlink->initFromHostSide(
&g_xlink_global_handler,
&g_xlink_device_handler,
device_cmd_file,
usb_device,
true)
)
{
std::cout << "depthai: Error initializing xlink\n";
break;
}
}
g_xlink->setWatchdogUpdateFunction(std::bind(&Device::wdog_keepalive, this));
wdog_start();
// config_d2h
{
printf("Loading config file\n");
std::string config_d2h_str;
StreamInfo si("config_d2h", 102400);
int config_file_length = g_xlink->openReadAndCloseStream(
si,
config_d2h_str
);
if(config_file_length == -1)
{
break;
}
if (!getJSONFromString(config_d2h_str, g_config_d2h))
{
std::cout << "depthai: error parsing config_d2h\n";
}
}
bool rgb_connected = g_config_d2h.at("_cams").at("rgb").get<bool>();
bool left_connected = g_config_d2h.at("_cams").at("left").get<bool>();
bool right_connected = g_config_d2h.at("_cams").at("right").get<bool>();
if(!rgb_connected && (left_connected ^ right_connected))
{
std::cerr << WARNING "FATAL ERROR: No cameras detected on the board. \n" ENDC;
break;
}
// check version
{
/* TODO: review in new refactored way
std::string device_version = g_config_d2h.at("_version").get<std::string>();
if (device_version != c_depthai_version)
{
printf("Version does not match (%s & %s)\n",
device_version.c_str(), c_depthai_version);
break;
}
std::string device_dev_version = g_config_d2h.at("_dev_version").get<std::string>();
if (device_dev_version != c_depthai_dev_version)
{
printf("WARNING: Version (dev) does not match (%s & %s)\n",
device_dev_version.c_str(), c_depthai_dev_version);
}
*/
}
version = g_config_d2h.at("eeprom").at("version").get<decltype(version)>();
printf("EEPROM data:");
H1_l.clear();
H2_r.clear();
R1_l.clear();
R2_r.clear();
M1_l.clear();
M2_r.clear();
R.clear();
T.clear();
d1_l.clear();
d2_r.clear();
std::vector<float> temp;
if (version == -1) {
printf(" invalid / unprogrammed\n");
} else {
printf(" valid (v%d)\n", version);
std::string board_name;
std::string board_rev;
float rgb_fov_deg = 0;
bool stereo_center_crop = false;
if (version >= 2) {
board_name = g_config_d2h.at("eeprom").at("board_name").get<std::string>();
board_rev = g_config_d2h.at("eeprom").at("board_rev").get<std::string>();
rgb_fov_deg= g_config_d2h.at("eeprom").at("rgb_fov_deg").get<float>();
}
if (version >= 3) {
stereo_center_crop = g_config_d2h.at("eeprom").at("stereo_center_crop").get<bool>();
}
float left_fov_deg = g_config_d2h.at("eeprom").at("left_fov_deg").get<float>();
float left_to_right_distance_m = g_config_d2h.at("eeprom").at("left_to_right_distance_m").get<float>();
float left_to_rgb_distance_m = g_config_d2h.at("eeprom").at("left_to_rgb_distance_m").get<float>();
bool swap_left_and_right_cameras = g_config_d2h.at("eeprom").at("swap_left_and_right_cameras").get<bool>();
std::vector<float> calib;
printf(" Board name : %s\n", board_name.empty() ? "<NOT-SET>" : board_name.c_str());
printf(" Board rev : %s\n", board_rev.empty() ? "<NOT-SET>" : board_rev.c_str());
printf(" HFOV L/R : %g deg\n", left_fov_deg);
printf(" HFOV RGB : %g deg\n", rgb_fov_deg);
printf(" L-R distance : %g cm\n", 100 * left_to_right_distance_m);
printf(" L-RGB distance : %g cm\n", 100 * left_to_rgb_distance_m);
printf(" L/R swapped : %s\n", swap_left_and_right_cameras ? "yes" : "no");
printf(" L/R crop region: %s\n", stereo_center_crop ? "center" : "top");
// std::cout << "H2 matrix of right came----------------> " << H2_r.size() << std::endl;
if (version <= 3) {
printf(" Calibration homography right to left (legacy, please consider recalibrating):\n");
calib = g_config_d2h.at("eeprom").at("calib_old_H").get<std::vector<float>>();
for (int i = 0; i < 9; i++) {
printf(" %11.6f,", calib.at(i));
temp.push_back(calib.at(i));
if (i % 3 == 2) {
printf("\n");
H2_r.push_back(temp);
temp.clear();
}
}
// std::cout << "H2 matrix of right came----------------> " << H2_r.size() << std::endl;
} else if (version == 4) {
std::vector<std::vector<float>> temp_inv;
printf(" Calibration inverse homography H1 (left):\n");
calib = g_config_d2h.at("eeprom").at("calib_H1_L").get<std::vector<float>>();
for (int i = 0; i < 9; i++) {
printf(" %11.6f,", calib.at(i));
temp.push_back(calib.at(i));
if (i % 3 == 2) {
printf("\n");
temp_inv.push_back(temp);
temp.clear();
}
}
mat_inv(temp_inv, H1_l);
temp_inv.clear();
for (int i = 0; i < 9; ++i) {
}
printf(" Calibration inverse homography H2 (right):\n");
calib = g_config_d2h.at("eeprom").at("calib_H2_R").get<std::vector<float>>();
for (int i = 0; i < 9; i++) {
printf(" %11.6f,", calib.at(i));
temp.push_back(calib.at(i));
if (i % 3 == 2) {
printf("\n");
temp_inv.push_back(temp);
temp.clear();
}
}
mat_inv(temp_inv, H2_r);
temp_inv.clear();
printf(" Calibration intrinsic matrix M1 (left):\n");
calib = g_config_d2h.at("eeprom").at("calib_M1_L").get<std::vector<float>>();
for (int i = 0; i < 9; i++) {
printf(" %11.6f,", calib.at(i));
temp.push_back(calib.at(i));
if (i % 3 == 2) {
printf("\n");
M1_l.push_back(temp);
temp.clear();
}
}
printf(" Calibration intrinsic matrix M2 (right):\n");
calib = g_config_d2h.at("eeprom").at("calib_M2_R").get<std::vector<float>>();
for (int i = 0; i < 9; i++) {
printf(" %11.6f,", calib.at(i));
temp.push_back(calib.at(i));
if (i % 3 == 2) {
printf("\n");
M2_r.push_back(temp);
temp.clear();
}
}
printf(" Calibration rotation matrix R:\n");
calib = g_config_d2h.at("eeprom").at("calib_R").get<std::vector<float>>();
for (int i = 0; i < 9; i++) {
printf(" %11.6f,", calib.at(i));
temp.push_back(calib.at(i));
if (i % 3 == 2) {
printf("\n");
R.push_back(temp);
temp.clear();
}
}
printf(" Calibration translation matrix T:\n");
calib = g_config_d2h.at("eeprom").at("calib_T").get<std::vector<float>>();
for (int i = 0; i < 3; i++) {
printf(" %11.6f,\n", calib.at(i));
}
T = calib;
std::cout << "H2 matrix of right came----------------> " << H2_r.size() << std::endl;
}
else if (version == 5){
printf(" Rectification Rotation R1 (left):\n");
calib = g_config_d2h.at("eeprom").at("calib_R1_L").get<std::vector<float>>();
for (int i = 0; i < 9; i++) {
printf(" %11.6f,", calib.at(i));
temp.push_back(calib.at(i));
if (i % 3 == 2) {
printf("\n");
R1_l.push_back(temp);
temp.clear();
}
}
for (int i = 0; i < 9; ++i) {
}
printf(" Rectification Rotation R2 (right):\n");
calib = g_config_d2h.at("eeprom").at("calib_R2_R").get<std::vector<float>>();
for (int i = 0; i < 9; i++) {
printf(" %11.6f,", calib.at(i));
temp.push_back(calib.at(i));
if (i % 3 == 2) {
printf("\n");
R2_r.push_back(temp);
temp.clear();
}
}
printf(" Calibration intrinsic matrix M1 (left):\n");
calib = g_config_d2h.at("eeprom").at("calib_M1_L").get<std::vector<float>>();
for (int i = 0; i < 9; i++) {
printf(" %11.6f,", calib.at(i));
temp.push_back(calib.at(i));
if (i % 3 == 2) {
printf("\n");
M1_l.push_back(temp);
temp.clear();
}
}
printf(" Calibration intrinsic matrix M2 (right):\n");
calib = g_config_d2h.at("eeprom").at("calib_M2_R").get<std::vector<float>>();
for (int i = 0; i < 9; i++) {
printf(" %11.6f,", calib.at(i));
temp.push_back(calib.at(i));
if (i % 3 == 2) {
printf("\n");
M2_r.push_back(temp);
temp.clear();
}
}
printf(" Calibration rotation matrix R:\n");
calib = g_config_d2h.at("eeprom").at("calib_R").get<std::vector<float>>();
for (int i = 0; i < 9; i++) {
printf(" %11.6f,", calib.at(i));
temp.push_back(calib.at(i));
if (i % 3 == 2) {
printf("\n");
R.push_back(temp);
temp.clear();
}
}
printf(" Calibration translation matrix T:\n");
calib = g_config_d2h.at("eeprom").at("calib_T").get<std::vector<float>>();
for (int i = 0; i < 3; i++) {
printf(" %11.6f,\n", calib.at(i));
}
T = calib;
printf(" Calibration Distortion Coeff d1 (Left):\n");
calib = g_config_d2h.at("eeprom").at("calib_d1_L").get<std::vector<float>>();
for (int i = 0; i < 14; i++) {
printf(" %11.6f,", calib.at(i));
if (i % 7 == 6)
printf("\n");
}
d1_l = calib;
printf(" Calibration Distortion Coeff d2 (Right):\n");
calib = g_config_d2h.at("eeprom").at("calib_d2_R").get<std::vector<float>>();
for (int i = 0; i < 14; i++) {
printf(" %11.6f,", calib.at(i));
if (i % 7 == 6)
printf("\n");
}
d2_r = calib;
std::vector<std::vector<float>> M2_r_inv;
std::vector<std::vector<float>> M1_l_inv;
std::vector<std::vector<float>> left_matrix = mat_mul(M2_r, R2_r);
mat_inv(M2_r, M2_r_inv);
H2_r = mat_mul(left_matrix, M2_r_inv);
left_matrix = mat_mul(M2_r, R1_l);
mat_inv(M1_l, M1_l_inv);
H1_l = mat_mul(left_matrix, M1_l_inv);
}
}
result = true;
} while (false);
if (!result)
{
g_xlink = nullptr;
// TODO: add custom python exception for passing messages
// throw std::exception();
}
return result;
}
std::vector<std::string> Device::get_available_streams()
{
std::vector<std::string> result;
if (g_config_d2h.is_object() &&
g_config_d2h.contains("_available_streams") &&
g_config_d2h.at("_available_streams").is_array()
)
{
for (const auto &obj : g_config_d2h.at("_available_streams"))
{
result.push_back(obj.get<std::string>());
}
}
return result;
}
std::vector<std::vector<float>> Device::get_left_intrinsic()
{
if (version < 4) {
std::cerr << "legacy, get_left_intrinsic() is not available in version " << version << "\n recalibrate and load the new calibration to the device. \n";
abort();
}
return M1_l;
}
std::vector<std::vector<float>> Device::get_left_homography()
{
if (version < 4) {
std::cerr << "legacy, get_left_homography() is not available in version " << version << "\n recalibrate and load the new calibration to the device. \n";
abort();
}
else {
return H1_l;
}
}
std::vector<std::vector<float>> Device::get_right_intrinsic()
{
if (version < 4) {
std::cerr << "legacy, get_right_intrinsic() is not available in version " << version << "\n recalibrate and load the new calibration to the device. \n";
abort();
}
return M2_r;
}
std::vector<std::vector<float>> Device::get_right_homography()
{
return H2_r;
}
std::vector<std::vector<float>> Device::get_rotation()
{
if (version < 4) {
std::cerr << "legacy, get_rotation() is not available in version " << version << "\n recalibrate and load the new calibration to the device. \n";
abort();
}
return R;
}
std::vector<float> Device::get_translation()
{
if (version < 4) {
std::cerr << "legacy, get_Translation() is not available in version " << version << "\n recalibrate and load the new calibration to the device. \n";
abort();
}
return T;
}
std::shared_ptr<CNNHostPipeline> Device::create_pipeline(
const std::string &config_json_str
)
{
using json = nlohmann::json;
config_backup = config_json_str;
bool init_ok = false;
do
{
// check xlink
if (nullptr == g_xlink)
{
std::cerr << WARNING "device is not initialized\n" ENDC;
break;
}
// str -> json
json config_json;
if (!getJSONFromString(config_json_str, config_json))
{
std::cerr << WARNING "Error: Cant parse json config :" << config_json_str << "\n" ENDC;
break;
}
// json -> configurations
HostPipelineConfig config;
if (!config.initWithJSON(config_json))
{
std::cerr << "Error: Cant init configs with json: " << config_json.dump() << "\n";
break;
}
int num_stages = config.ai.blob_file2.empty() ? 1 : 2;
// read tensor info
std::vector<dai::TensorInfo> tensors_info_output, tensors_info_input;
std::cout << config.ai.blob_file_config << std::endl;
std::ifstream jsonFile(config.ai.blob_file_config);
nlohmann::json json_NN_meta;
nlohmann::json json_NN_;
if (jsonFile.is_open()) {
json_NN_ = nlohmann::json::parse(jsonFile);
}
if(!json_NN_.contains("NN_config"))
{
std::cout << "No NN config provided, defaulting to \"raw\" output format!" << std::endl;
json_NN_meta["NN_config"]["output_format"] = "raw";
}
else
{
json_NN_meta = json_NN_["NN_config"];
}
// pipeline configurations json
// homography
const int homography_count = 9 * 7 + 3 * 2 + 14 * 3; /*R1,R2,M1,M2,R,T,M3,R_rgb,T_rgb,d1,d2,d3*/
std::vector<float> calibration_buff(homography_count);
bool stereo_center_crop = false;
if (config.depth.calibration_file.empty())
{
std::cout << "depthai: Calibration file is not specified, will use default setting;\n";
}
else
{
HostDataReader calibration_reader;
if (!calibration_reader.init(config.depth.calibration_file))
{
std::cerr << WARNING "depthai: Error opening calibration file: " << config.depth.calibration_file << "\n" ENDC;
break;
}
const int homography_size = sizeof(float) * homography_count;
int sz = calibration_reader.getSize();
std::cout << homography_size << std::endl;
std::cout << sz << std::endl;
if (sz < homography_size) {
if(version < 5 && config.board_config.store_to_eeprom){
std::cerr << WARNING "Calibration file is outdated. Recalibration required before writing to EEPROM." << std::endl << "To continue using old calibration disable('-e') write to EEPROM.";
abort();
}
else{
std::cerr << WARNING "Calibration file size " << sz << ENDC " < smaller than expected, data ignored. May need to recalibrate\n";
}
} else {
calibration_reader.readData(reinterpret_cast<unsigned char*>(calibration_buff.data()), homography_size);
int flags_size = sz - homography_size;
if (flags_size > 0) {
assert(flags_size == 1);
calibration_reader.readData(reinterpret_cast<unsigned char*>(&stereo_center_crop), 1);
}
}
}
if(version > 4){
if(config.mono_cam_config.resolution_h == 800){
// create_mesh()
}
else if(config.mono_cam_config.resolution_h == 720){
// adjusting y axis of the image center since it was cancluated for width of 800.
M1_l[1][2] -= 40;
M2_r[1][2] -= 40;
}
else if(config.mono_cam_config.resolution_h == 400){
/* adjusting intrinsic matrix by multiplying everything by multiplying all the intrinisc
*parameters by 0.5 except the right bottom corner which is a scale.
*/
M1_l[0][0] *= 0.5;
M1_l[0][2] *= 0.5;
M1_l[1][1] *= 0.5;
M1_l[1][2] *= 0.5;
M2_r[0][0] *= 0.5;
M2_r[0][2] *= 0.5;
M2_r[1][1] *= 0.5;
M2_r[1][2] *= 0.5;
}
std::vector<std::vector<float>> M2_r_inv;
std::vector<std::vector<float>> M1_l_inv;
std::vector<std::vector<float>> left_matrix = mat_mul(M2_r, R2_r);
mat_inv(M2_r, M2_r_inv);
H2_r = mat_mul(left_matrix, M2_r_inv);
left_matrix = mat_mul(M2_r, R1_l);
mat_inv(M1_l, M1_l_inv);
H1_l = mat_mul(left_matrix, M1_l_inv);
}
std::vector<float> left_mesh_buff(1,0);
std::vector<float> right_mesh_buff(1,0);
config.depth.warp.use_mesh = false;
if (config.depth.warp.use_mesh) {
const int map_size = 1280 * 800;
std::vector<float> left_x_map_buff(map_size, 0);
std::vector<float> right_x_map_buff(map_size, 0);
std::vector<float> left_y_map_buff(map_size, 0);
std::vector<float> right_y_map_buff(map_size, 0);
std::cout << "left map file: " << config.depth.left_mesh_file << std::endl;
std::cout << "right map file: " << config.depth.right_mesh_file << std::endl;
if (config.depth.left_mesh_file.empty() && config.depth.right_mesh_file.empty()) {
std::cout << "depthai: mesh file is not specified, will use Homography;\n";
} else if (config.depth.left_mesh_file.empty()) {
std::cout << "depthai: Only right camera mesh file is specified, Left camera mesh file not specified;\n";
} else if (config.depth.right_mesh_file.empty()) {
std::cout << "depthai: Only left camera mesh file is specified, Right camera mesh file not specified;\n";
} else {
HostDataReader mesh_reader;
const int expectec_mesh_size = sizeof(float) * map_size * 2;
// Reading left mesh into the vector
if (!mesh_reader.init(config.depth.left_mesh_file)) {
std::cerr << WARNING "depthai: Error opening left camera mesh file: " ENDC << config.depth.left_mesh_file << std::endl;
//break;
} else {
int file_sz = mesh_reader.getSize();
assert(file_sz == expectec_mesh_size);
mesh_reader.readData(reinterpret_cast<unsigned char*>(left_x_map_buff.data()), expectec_mesh_size);
mesh_reader.readData(reinterpret_cast<unsigned char*>(left_y_map_buff.data()), expectec_mesh_size);
mesh_reader.closeFile();
int32_t res = config.mono_cam_config.resolution_h;
// create_mesh(left_x_map_buff, left_y_map_buff, left_mesh_buff, res);
// std::cout << "left mesh loaded with size :" << left_map_buff.size() << " File size: " << file_sz << " expectec_mesh_size ->" << expectec_mesh_size << std::endl;
}
// Reading right mesh into the vector
if (!mesh_reader.init(config.depth.right_mesh_file)) {
std::cerr << WARNING "depthai: Error opening right camera mesh file: " ENDC << config.depth.right_mesh_file << std::endl;
//break;
} else {
int file_sz = mesh_reader.getSize();
assert(file_sz == expectec_mesh_size);
mesh_reader.readData(reinterpret_cast<unsigned char*>(right_x_map_buff.data()), expectec_mesh_size);
mesh_reader.readData(reinterpret_cast<unsigned char*>(right_y_map_buff.data()), expectec_mesh_size);
mesh_reader.closeFile();
}
}
}
// else {
// left_mesh_buff.resize(1);
// right_mesh_buff.resize(1);
// }
bool rgb_connected = g_config_d2h.at("_cams").at("rgb").get<bool>();
bool left_connected = g_config_d2h.at("_cams").at("left").get<bool>();
bool right_connected = g_config_d2h.at("_cams").at("right").get<bool>();
if(config.board_config.swap_left_and_right_cameras)
{
bool temp = left_connected;
left_connected = right_connected;
right_connected = temp;
}
if(!rgb_connected)
{
std::cout << "RGB camera (IMX378) is not detected on board! \n";
if(config.ai.camera_input == "rgb")
{
std::cerr << WARNING "WARNING: NN inference was requested on RGB camera (IMX378), defaulting to right stereo camera (OV9282)! \n" ENDC;
config.ai.camera_input = "right";
}
}
if(left_connected ^ right_connected)
{
std::string cam_not_connected = (left_connected == false) ? "Left" : "Right";
std::cerr << WARNING "WARNING: "<< cam_not_connected << " stereo camera (OV9282) is not detected on board! \n" ENDC;
if(config.ai.camera_input != "rgb")
{
std::cerr << WARNING "WARNING: NN inference was requested on " << config.ai.camera_input << " stereo camera (OV9282), defaulting to RGB camera (IMX378)! \n" ENDC;
config.ai.camera_input = "rgb";
}
}
json json_config_obj;
// Add video configuration if specified
if(config_json.count("video_config") > 0){
json_config_obj["video_config"] = config_json["video_config"];
}
json_config_obj["board"]["clear-eeprom"] = config.board_config.clear_eeprom;
json_config_obj["board"]["store-to-eeprom"] = config.board_config.store_to_eeprom;
json_config_obj["board"]["override-eeprom"] = config.board_config.override_eeprom;
json_config_obj["board"]["swap-left-and-right-cameras"] = config.board_config.swap_left_and_right_cameras;
json_config_obj["board"]["left_fov_deg"] = config.board_config.left_fov_deg;
json_config_obj["board"]["rgb_fov_deg"] = config.board_config.rgb_fov_deg;
json_config_obj["board"]["left_to_right_distance_m"] = config.board_config.left_to_right_distance_m;
json_config_obj["board"]["left_to_rgb_distance_m"] = config.board_config.left_to_rgb_distance_m;
json_config_obj["board"]["stereo_center_crop"] = config.board_config.stereo_center_crop || stereo_center_crop;
json_config_obj["board"]["name"] = config.board_config.name;
json_config_obj["board"]["revision"] = config.board_config.revision;
json_config_obj["_board"] = {
{ "calib_data", calibration_buff },
{ "mesh_left", left_mesh_buff },
{ "mesh_right", right_mesh_buff }
};
json_config_obj["depth"]["padding_factor"] = config.depth.padding_factor;
json_config_obj["depth"]["depth_limit_mm"] = (int)(config.depth.depth_limit_m * 1000);
json_config_obj["depth"]["median_kernel_size"] = config.depth.median_kernel_size;
json_config_obj["depth"]["lr_check"] = config.depth.lr_check;
json_config_obj["depth"]["warp_rectify"] = {
{ "use_mesh", config.depth.warp.use_mesh },
{ "mirror_frame", config.depth.warp.mirror_frame },
{ "edge_fill_color", config.depth.warp.edge_fill_color },
};
json_config_obj["_load_inBlob"] = true;
json_config_obj["_pipeline"] =
{
{"_streams", json::array()}
};
json_config_obj["camera"]["rgb"]["resolution_w"] = config.rgb_cam_config.resolution_w;
json_config_obj["camera"]["rgb"]["resolution_h"] = config.rgb_cam_config.resolution_h;
json_config_obj["camera"]["rgb"]["fps"] = config.rgb_cam_config.fps;
json_config_obj["camera"]["mono"]["resolution_w"] = config.mono_cam_config.resolution_w;
json_config_obj["camera"]["mono"]["resolution_h"] = config.mono_cam_config.resolution_h;
json_config_obj["camera"]["mono"]["fps"] = config.mono_cam_config.fps;
std::string blob_file[] = {config.ai.blob_file, config.ai.blob_file2};
std::vector <HostDataReader> _blob_reader(num_stages);
std::vector <int> size_blob(num_stages);
for (int stage = 0; stage < num_stages; stage++)
{
if (!blob_file[stage].empty())
{
if (!_blob_reader[stage].init(blob_file[stage]))
{
std::cerr << WARNING "depthai: Error opening blob file: " << blob_file[stage] << "\n" ENDC;
break;
}
size_blob[stage] = _blob_reader[stage].getSize();
}
}
json_config_obj["ai"]["blob0_size"] = size_blob[0];
json_config_obj["ai"]["blob1_size"] = (num_stages > 1) ? size_blob[1] : 0;
json_config_obj["ai"]["calc_dist_to_bb"] = config.ai.calc_dist_to_bb;
json_config_obj["ai"]["keep_aspect_ratio"] = config.ai.keep_aspect_ratio;
json_config_obj["ai"]["shaves"] = config.ai.shaves;
json_config_obj["ai"]["cmx_slices"] = config.ai.cmx_slices;
json_config_obj["ai"]["NCEs"] = config.ai.NN_engines;
json_config_obj["ai"]["camera_input"] = config.ai.camera_input;
json_config_obj["ai"]["num_stages"] = num_stages;
json_config_obj["ai"]["NN_config"] = json_NN_meta;
json_config_obj["ot"]["max_tracklets"] = config.ot.max_tracklets;
json_config_obj["ot"]["confidence_threshold"] = config.ot.confidence_threshold;
json_config_obj["app"]["sync_video_meta_streams"] = config.app_config.sync_video_meta_streams;
json_config_obj["app"]["sync_sequence_numbers"] = config.app_config.sync_sequence_numbers;
json_config_obj["app"]["usb_chunk_KiB"] = config.app_config.usb_chunk_KiB;
bool add_disparity_post_processing_color = false;
bool temp_measurement = false;
std::vector<std::string> pipeline_device_streams;
for (const auto &stream : config.streams)
{
if (c_streams_myriad_to_pc[stream.name].dimensions[0] == MONO_RES_AUTO) {
c_streams_myriad_to_pc[stream.name].dimensions[0] = config.mono_cam_config.resolution_h;
c_streams_myriad_to_pc[stream.name].dimensions[1] = config.mono_cam_config.resolution_w;
}
if (stream.name == "disparity_color")
{
c_streams_myriad_to_pc["disparity"].dimensions[0] = c_streams_myriad_to_pc[stream.name].dimensions[0];
c_streams_myriad_to_pc["disparity"].dimensions[1] = c_streams_myriad_to_pc[stream.name].dimensions[1];
add_disparity_post_processing_color = true;
json obj = { {"name", "disparity"} };
if (0.f != stream.max_fps) { obj["max_fps"] = stream.max_fps; };
json_config_obj["_pipeline"]["_streams"].push_back(obj);
}
else
{
if (stream.name == "meta_d2h")
{
temp_measurement = true;
}
json obj = { {"name" ,stream.name} };
if (!stream.data_type.empty()) { obj["data_type"] = stream.data_type; };
if (0.f != stream.max_fps) { obj["max_fps"] = stream.max_fps; };
if (stream.name == "depth"){obj["data_type"] = "uint16"; }
json_config_obj["_pipeline"]["_streams"].push_back(obj);
pipeline_device_streams.push_back(stream.name);
}
}
// host -> "config_h2d" -> device
std::string pipeline_config_str_packed = json_config_obj.dump();
std::cout << "config_h2d json:\n" << pipeline_config_str_packed << "\n";
// resize, as xlink expects exact;y the same size for input:
std::cout << "size of input string json_config_obj to config_h2d is ->" << pipeline_config_str_packed.size() << std::endl;
std::cout << "size of json_config_obj that is expected to be sent to config_h2d is ->" << g_streams_pc_to_myriad.at("config_h2d").size << std::endl;
assert(pipeline_config_str_packed.size() < g_streams_pc_to_myriad.at("config_h2d").size);
pipeline_config_str_packed.resize(g_streams_pc_to_myriad.at("config_h2d").size, 0);
if (!g_xlink->openWriteAndCloseStream(
g_streams_pc_to_myriad.at("config_h2d"),
pipeline_config_str_packed.data())
)
{
std::cerr << WARNING "depthai: pipelineConfig write error\n" ENDC;
break;
}
// host -> "host_capture" -> device
auto stream = g_streams_pc_to_myriad.at("host_capture");
g_host_capture_command = std::unique_ptr<HostCaptureCommand>(new HostCaptureCommand((stream)));
g_xlink->observe(*g_host_capture_command, stream);
// read & pass blob file
if (config.ai.blob_file.empty())
{
std::cout << "depthai: Blob file is not specified, will use default setting;\n";
}
else
{
for (int stage = 0; stage < num_stages; stage++)
{